Research
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Latest in Research
4787 storiesComputing on the Fly: Navigating a Vision for the Future of Drone Computing
arXiv:2607.19213v1 Announce Type: new Abstract: The report envisions a decade in which drones move goods, medical supplies, and information at a scale comparabl…
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
arXiv:2607.18713v1 Announce Type: new Abstract: Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guara…
The Open Ant: A Robot Platform for Reinforcement Learning Research
arXiv:2607.18488v1 Announce Type: new Abstract: Reinforcement learning (RL) research has demonstrated success in both physical and simulated domains; however, t…
Recti-Q: Feature-Space Rectification for Out-of-Distribution-Robust Quantized Perception in Edge Robotics
arXiv:2607.18540v1 Announce Type: cross Abstract: Robotic perception pipelines increasingly rely on large vision backbones deployed on SWaP-constrained edge pla…
Bayesian Retraction Optimization for Tissue Attachment Mapping in Surgical Dissection
arXiv:2607.19174v1 Announce Type: new Abstract: With growing surgeon shortages, automating surgical sub-tasks such as tissue dissection offers a promising step …
Stochastic Multi-Objective Kinodynamic Planning Against Adversaries
arXiv:2607.19284v1 Announce Type: new Abstract: This paper addresses multi-objective kinodynamic planning in environments with stochastic hybrid adversaries tha…
STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
arXiv:2607.19196v1 Announce Type: cross Abstract: We present a unified trajectory planning and control framework for the satisfaction of Signal Temporal Logic (…
Cognitive Dual-Process Planning for Autonomous Driving with Structured Scene Knowledge and Verifiable Reasoning-Action Consistency
arXiv:2607.19194v1 Announce Type: new Abstract: High-level planning for autonomous driving is a knowledge-intensive engineering decision task that requires accu…
Strategizing at Speed: A Learned Model Predictive Game for Multi-Agent Drone Racing
arXiv:2602.06925v3 Announce Type: replace Abstract: Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decisi…
Correct-by-Construction Behavior Tree Synthesis from Signal Temporal Logic Specifications with Application to Robotic Missions
arXiv:2607.18731v1 Announce Type: new Abstract: Behavior Trees (BTs) are widely adopted for complex task execution in robotics, providing modular, reactive cont…
Fabric Pneumatic Artificial Muscles Based on the Drawstring Principle
arXiv:2607.18641v1 Announce Type: new Abstract: Pneumatic artificial muscles have wide applications in robotics and industrial fields. Conventional pneumatic ar…
How defensive driving enhances driving safety: A driving simulator study on drivers' defensive driving behaviors
arXiv:2607.18663v1 Announce Type: new Abstract: Defensive driving is widely recognized as an advanced driving skill. However, whether and how defensive driving …
TiBCLaG: Hybrid design approach for a trigger-induced bistable compliant laparoscopic grasper
arXiv:2603.18559v2 Announce Type: replace Abstract: Industrial laparoscopic graspers rely on multi-link rigid mechanisms manufactured to tight tolerances, resul…
Training and Simulation of Quadrupedal Robot in Adaptive Stair Climbing and Descending for Indoor Firefighting: An End-to-End Reinforcement Learning Approach
arXiv:2602.03087v2 Announce Type: replace Abstract: Quadruped robots are used for primary searches during the early stages of indoor fires. A typical primary se…
Beyond Transformers: Linear Attention Policy for Open-Vocabulary Object Goal Navigation
arXiv:2607.18794v1 Announce Type: new Abstract: Open-Vocabulary Object Goal Navigation (OVON) requires agents to operate under partial observability, making eff…
Integrity-Gated Eco-CACC: Epistemic Admissibility for Cooperative Driving at Signalized Intersections
arXiv:2607.18565v1 Announce Type: cross Abstract: Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems rely on accurate localization, signal timing, and i…
WHU-PCPR: A cross-platform heterogeneous point cloud dataset for place recognition in complex urban scenes
arXiv:2601.06442v2 Announce Type: replace-cross Abstract: Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as…
Robust Co-design Optimisation for Agile Fixed-Wing UAVs
arXiv:2603.11130v2 Announce Type: replace Abstract: Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches …
End-to-end Conditional Diffusion for Realistic and Controllable Visual Traffic Scenario Generation
arXiv:2607.18637v1 Announce Type: new Abstract: Generating closed-loop traffic scenarios that are both realistic and controllable is crucial for evaluating auto…
Uncertainty-Aware Multi-Robot Task Allocation With Strongly Coupled Inter-Robot Rewards
arXiv:2509.22469v3 Announce Type: replace Abstract: Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamen…
From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs
arXiv:2607.19306v1 Announce Type: new Abstract: Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and pl…
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
arXiv:2602.01515v2 Announce Type: replace Abstract: Deploying learned control policies is risky because policies that appear robust in simulation can confidentl…
Fly, Track, Land: Infrastructure-less Magnetic Localization for Heterogeneous UAV-UGV Teaming
arXiv:2603.08926v2 Announce Type: replace Abstract: Persistent air ground robot teams require nano UAVs that can leave a mobile UGV, perform short scouting or i…
MAGE: Human-Like Macro Placement via Agentic Multimodal Reasoning
arXiv:2607.18536v1 Announce Type: cross Abstract: Macro placement still requires substantial manual refinement in industrial physical design flows. We present M…
Masked Visual Actions for Unified World Modeling
arXiv:2607.19343v1 Announce Type: cross Abstract: Video models absorb rich priors over how the visual world moves, interacts, and responds to contact, making th…
CONTACT: CONtact-aware TACTile Learning for Robotic Disassembly
arXiv:2603.08560v2 Announce Type: replace Abstract: Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on …
WorldScape Policy 2.0: Empowering Steerable World Action Modeling with Reasoning-Augmented Memory
arXiv:2607.18840v1 Announce Type: new Abstract: World Action Models (WAMs) offer a promising paradigm for robotic manipulation by jointly modeling visual state …
Fly0: Persistent Metric Anchoring for Zero-Shot Aerial Vision-Language Navigation
arXiv:2602.15875v2 Announce Type: replace Abstract: Current Visual-Language Navigation (VLN) methodologies face a trade-off between semantic understanding and c…
RoboInspector: Unveiling the Unreliability of Policy Code for LLM-enabled Robotic Manipulation
arXiv:2508.21378v2 Announce Type: replace Abstract: Large language models (LLMs) demonstrate remarkable capabilities in reasoning and code generation, enabling …
The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
arXiv:2607.18940v1 Announce Type: new Abstract: This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. R…